Decentralized shape formation and force-based interactive formation control in robot swarms

TL;DR

This paper presents a decentralized, force-based formation control method for robot swarms that enhances resilience and shape integrity during obstacle encounters, inspired by natural flocking behaviors.

Contribution

It introduces a novel distributed approach combining force-based interactions for shape formation and obstacle resilience, improving upon existing leader-dependent methods.

Findings

Effective shape maintenance during obstacle encounters

Enhanced swarm resilience and coordination

Distributed control without reliance on a leader

Abstract

Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed approach to shape formation is proposed. Flocking into strategic formations is observed in migratory birds and fish to avoid predators and also for energy conservation. The formation is maintained throughout long periods without collapsing and is advantageous for communicating within the flock. Similar behaviour can be deployed in multi-agent systems to enhance coordination within the swarm. Existing methods for formation control are either dependent on the size and geometry of the formation or rely on maintaining the formation with a single reference in the swarm (the leader). These methods are not resilient to failure and involve a high degree of deformation upon obstacle encounter before the shape is recovered again. To improve the performance, artificial force-based interaction amongst the entities of the swarm to maintain shape integrity while encountering obstacles is elucidated.